CN110247603A - The system and method for executing the time for reducing code in motor control system - Google Patents
The system and method for executing the time for reducing code in motor control system Download PDFInfo
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- CN110247603A CN110247603A CN201910132850.XA CN201910132850A CN110247603A CN 110247603 A CN110247603 A CN 110247603A CN 201910132850 A CN201910132850 A CN 201910132850A CN 110247603 A CN110247603 A CN 110247603A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/42—Control modes by adaptive correction
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
It is a kind of to include: feedback signal of the reception from motor part and transmit motor control signal for reducing the method that code executes the time in motor controller, to control motor part by repeatedly replacing between two modes based on the first attribute of motor part and the second attribute.In the flrst mode, executing section by executing first code using feedback signal determines the current value of the first attribute of motor part, and determines by the past value using the second attribute the current value of the second attribute of motor part.Under the second mode, executing section by executing second code using feedback signal determines the current value of the second attribute of motor part, and determines by the past value using the first attribute the current value of the first attribute of motor part.
Description
Technical field
The disclosure relates generally to motor controller, and more particularly, to for subtracting in such motor controller
The system and method that few code executes the time.
Background technique
Modern closed loop motor controller generally includes the processor for executing software code, and software code is designed to
The turned position of (for example, passing through pulse width modulation or " PWM " signal) control motor and speed.In general, software code is held
Row -- its total duration is referred to as " code executes the time " -- must occur during predetermined time cycle, the week predetermined time
Phase is sometimes referred to as " PWM cycle " or " PWM switching cycle ".This code execution time may include for example for estimating motor
Position and the/code (referred to herein as " position and speed processing ") of speed and/or for current regulation code (
It is referred to as " current regulator processing " in text).
It is readily apparent that wanting to reduce the amount that the code occurred in given PWM switching cycle executes the time.So
And realize that this reduction is difficult, because the processor (accelerate code to execute) using higher performance may cause cost
Increase, and the noise heard may be increased and/or reduce motor control performance by adjusting PWM cycle.
Accordingly, it is desirable to be able to provide motor control system and method that code executes time reduction.In addition, passing through then
Detailed description and appended claims and in conjunction with attached drawing and aforementioned technical field and background technique, other expectations of the invention are special
Characteristic of seeking peace will become obvious.
Summary of the invention
Provide the system and method for executing the time for reducing code in motor controller system.In one embodiment
In, a kind of method for motor control includes: to receive the feedback signal from motor part and transmit motor control signal, with
The first and second attributes (for example, motor position/speed, motor current etc.) based on motor part pass through repeatedly in two moulds
Replace between formula to control motor part.In the flrst mode, section is executed come really by executing first code using feedback signal
Determine the current value (that is, closed loop) of the first attribute of motor part, and motor is determined by the past value using the second attribute
The current value (that is, open loop) of second attribute of component.Under the second mode, it is executed by executing second code using feedback signal
Section determines the current value of the second attribute of motor part, and determines motor part by the past value using the first attribute
The first attribute current value.
In one embodiment, first code executes section and handles corresponding to motor position and speed.In one embodiment,
Second code executes section corresponding to current regulator processing.
In one embodiment, the second attribute of motor is motor current.
In one embodiment, the first attribute of motor is motor position, and the third attribute of motor is motor speed, and
The current value of first attribute is set equal to the past value of motor position and the past value of motor speed and predetermined time interval
Product summation.
In one embodiment, analog to digital is executed to feedback signal before method is included in transmission motor control signal
Conversion.
In one embodiment, motor control signal is pulse width modulation (PWM) signal.
Motor controller according to one embodiment includes the processor for being configured as executing machine-readable software instructions, machine
The instruction of device readable software promotes processor to receive from the horse for being communicatively coupled to motor controller when being executed by processor
Up to the feedback signal of component, wherein one or more attributes of the feedback signal in response to motor.Motor controller is further transmitted
Motor control signal based on the first and second attributes of motor part by repeatedly replacing between two modes to be controlled
Motor part: in the flrst mode, the first attribute of motor is determined by executing first code execution section using feedback signal
Current value, and the current value of the second attribute of motor is determined by the past value using the second attribute, in second mode
Under, the current value of the second attribute of motor is determined by executing second code execution section using feedback signal, and passes through benefit
The current value of the first attribute of motor is determined with the past value of the first attribute.
In one embodiment, first code executes section and handles corresponding to motor position and speed.In one embodiment,
Second code executes section corresponding to current regulator processing.
In one embodiment, the second attribute of motor is motor current.
In one embodiment, the first attribute of motor is motor position, and the third attribute of motor is motor speed, and
The current value of first attribute is set equal to the past value of motor position and the past value of motor speed and predetermined time interval
Product summation.
In one embodiment, method further comprises executing mould to feedback signal before transmitting motor control signal
Quasi--number conversion.
In one embodiment, motor control signal is pulse width modulation (PWM) signal.
Moveable platform according to one embodiment includes: motor part；It is mechanically coupled to the driving system of motor part
System；It is communicatively coupled to the motor controller of motor part, motor controller is configured as: received from the anti-of motor part
Feedback signal, the feedback signal correspond to one or more attributes of motor；Motor control signal is transmitted based on motor part
First and second attributes control motor by repeatedly replacing between two modes.In the flrst mode, by using instead
Feedback signal executes first code and executes section to determine the current value of the first attribute of motor, and the mistake by utilizing the second attribute
Go value determine motor the second attribute current value.Under the second mode, it is held by executing second code using feedback signal
Row section determines the current value of the second attribute of motor, and the first of motor is determined by the past value using the first attribute
The current value of attribute.
In one embodiment, first code executes section and handles corresponding to motor position and speed.In one embodiment,
Second code executes section corresponding to current regulator processing.
In one embodiment, motor controller further executes mould to feedback signal before transmitting motor control signal
Quasi--number conversion.
In one embodiment, motor control signal is pulse width modulation (PWM) signal.
In one embodiment, drive system is selected from and is made of driving system for electric vehicles and electrical salf-walking motor vehicle drive system
Group.
Detailed description of the invention
Exemplary embodiment is described below with reference to attached drawing, wherein identical appended drawing reference indicates identical member
Part, and wherein:
Fig. 1 is the functional block for showing the exemplary moveable platform with motor control system according to various embodiments
Figure；
Fig. 2 conceptually illustrates the code combined with conventional motor control system and executes sequence；
Fig. 3 conceptually illustrates code according to various embodiments and executes sequence；And
Fig. 4 is the flow chart for showing motor control method according to various embodiments.
Specific embodiment
The system and method for executing time execution motor control using reduced code are described, benefit is thus prevented
The implicit costs caused by higher performance processor increase and/or noise increases and due to reducing motor control period (example
Such as, impulse modulation (PWM) period) caused by motor control reduced performance.
It is described in detail below to be only exemplary in itself and be not intended to limit application and use.In addition, not depositing
By any specific or dark of any technical field above-mentioned, background technique, summary of the invention or middle proposition described in detail below
The intention for the theoretical constraint shown.As used herein, term " module " refers to any hardware individually or in any combination, soft
Part, firmware, electronic control part, processing logic and/or processor device, including but not limited to: specific integrated circuit (ASIC),
Field programmable gate array (FPGA), electronic circuit, processor (shared, dedicated or in groups) and execute one or more softwares
Or memory, combinational logic circuit and/or other described functional suitable components of offer of firmware program.
Embodiment of the disclosure can be described in this paper according to function and/or logical block components and each processing step.It answers
When understanding, these block parts can be by being configured as executing any amount of hardware, software and/or firmware portion of specified function
Part is implemented.For example, embodiment of the disclosure can use various integrated circuit components, for example, memory component, digital signal
Processing element, logic element, look-up table etc. can be held under the control of one or more microprocessors or other control devices
Row multiple functions.In addition, it will be understood by those skilled in the art that embodiment of the disclosure can be come in conjunction with any amount of system
Practice, and system as described herein is only a kind of exemplary embodiment of the disclosure.
For brevity, not described in detail herein soft with motor controller, PWM system, drive system, computer
Related routine techniques in terms of the other function of part and system (and each operating member of the system).In addition, being wrapped herein
The each illustrated connecting line included is intended to indicate that example functional relationships and/or physical connection between each element.It answers
When it is noted that many functional relationships or physical connection alternately or additionally may be present in embodiment of the disclosure.
Referring now to Figure 1, moveable platform 100 according to various embodiments generally includes (by motor command signal
111 and feedback control loop 121) be communicatively coupled to the motor controller (or referred to as " control of motor or other motors 120
Device ") 110, it is attached to the motor or other 120 own mechanicals of motor and is configured as generating moveable platform 100 relative to it
The drive system appropriate 130 (for example, speed changer, one or more wheels etc.) of the movement of environment.
Moveable platform 100 can correspond to comprising electric motor or other motors and can benefit from using described herein
Using reduction code execute the time motor controller system any kind of vehicle or device.Such moveable platform
Non-limiting example include electric bicycle, motorcycle, truck, electric or hybrid vehicle (including autonomous vehicle), ship
Oceangoing ship, aircraft, robot device etc..
Motor controller 110 includes at least one processor 151 and computer readable storage means or medium 152.Processing
Device 151 can be any customization or commercially available processor, central processing unit (CPU), graphics processing unit
(GPU), the secondary processor in several processors associated with motor controller 110, the microprocessor based on semiconductor (are adopted
With the form of microchip or chipset), any combination of them or commonly used in execute code command any device.Computer
Readable storage devices or medium 152 may include with the volatibility of read-only memory (ROM), random access memory (RAM) etc.
And non-volatile memory device.Such as PROM, which can be used, in computer readable storage means or medium 152 (may be programmed read-only storage
Device), EPROM (electric PROM), EEPROM (electric erasable PROM), flash memory or it is data-storable any other electricity,
Any one of many known as memory devices of magnetic, optics or compound storage device are implemented, and some of which data indicate
It is used to control the executable instruction of moveable platform 100 by motor controller 110.
It may include one or more individual programs by the code command that processor 151 executes, each program includes using
In the ordered list for the executable instruction for implementing logic function.Executable instruction can use height that is currently known or developing later
Grade or low level computer language are realized, for example, compiling c code, assembler language code etc..Instruction is executed by processor 151
When, the signal from motor 120 (and other possible subsystems, be not shown) is received and processed, logic, calculating, side are executed
Method and/or algorithm are to automatically generate the control letter for being transmitted to motor 120 for logic-based, calculating, method and/or algorithm
Number 111 (for example, pwm control signals).
In some embodiments, motor command signal 111 includes being selected to the velocity of rotation of control motor 120
Pwm signal.However, the range of embodiment is not limited to this.The property of pwm signal is known in the art and herein
Without being described in detail.In general, term " PWM " is used to refer to be used to for the duty ratio of wherein a succession of ON/OFF pulse
Control is provided to average voltage and/or the electric current of motor 120 to control any control framework of its velocity of rotation.
Motor 120 can be any kind of band brush that is currently known or developing later or without brush electric motor.Horse
The feedback using 121 form of signal or multiple signals from motor 120 is received up to controller 110.In one embodiment, believe
Numbers 121 include and the velocity of rotation (ω) of one or more components of motor 120 and position (θ) related information.In other realities
It applies in example, includes less or more attribute of motor 120 in signal 121.It can be used in conjunction with motor 120 known in the art
Various sensors provide feedback signal 121, including for example, resolver, optics or capacitance encoder, Hall effect device etc..
Fig. 2 conceptually illustrates the code combined with conventional motor control system and executes sequence, and Fig. 3 is conceptually
The code shown according to various embodiments executes sequence, wherein reducing the execution time of code.
As being briefly mentioned above, the execution of software code is occurred " code executes the time " by controller 110
Period, code execution time must cooperate in PWM switching cycle.According to illustrated embodiment, the code execution time is covered
The execution (" position and speed processing ") and use of the code of position and/or speed for based on feedback signal 121 estimation motors
In the execution (" current regulator processing ") of the code of current regulation.Position and speed processing includes for example, by this field
The one or more encoders or resolver known, by measured original motor current and voltage or measured home position
Feedback signal extracts 120 position and speed of motor.
Current regulator processing is performed in any appropriate manner to generate the horse for the motor current for corresponding to order
Up to terminal voltage value and/or desired motor drive shaft torque (i.e. " direct moment of torsion control ").In general, motor terminal voltage is based on
Measurement and order electric current calculates.
First refering to fig. 2, it illustrates the operations of conventional motor control framework, show two continuous PWM switching weeks
Phase 210 and 211.In each of these periods 210 and 211, occur within the code execution time 220 and 221 respectively identical
The code of sequence executes section.That is, it includes analog-digital conversion that code, which executes each of time 220 and 221,
(ADC) pretreatment section 201, position and speed processing section 202 and the current regulator occurred after intervening time interval
Processing section 203 can execute other function in the intervening time interval.Such function can include but is not limited to, in position
To overcurrent, over-voltage and/or the defencive function overrun and diagnosis between speed processing and current regulator processing.This is actual
After pwm signal section 204.It is understood that section 202 and 203 can be in a different order and/or in their corresponding generation
Code executes time generation different in the time and can have different relative durations.Concept shown in Fig. 2 and Fig. 3
Property sequence is not intended to be limited in any way.
As can be seen that in Fig. 2, the code execution time 220 and 221 is consistent in length and occupies it
Corresponding PWM switching time 210 and 211 major part.The two sections are considered " closed loop " process.However, root
According to this theme, by only executing complete adjuster processing section 202 per another PWM cycle and similarly every another alternate
PWM cycle executes complete position and speed processing section, reduces effective code and executes the time.During these periods, adopt
Used be equivalent to these codes execute section " open loop " as substitute.
In this regard, Fig. 4 is the flow chart for showing motor control method 400 according to various embodiments.More specifically
Ground, Fig. 4 show identical two consecutive PWM switching cycles 210 and 211.However, it is different from Fig. 3, in these 210 Hes of period
In each of 211, is executed in code not homotactic code execution section occurs in the time 320 and 321 respectively.
That is, the code execution time 320 includes the position and speed processing section 202 of open loop, but the electric current of closed loop
Adjuster processing section 205.On the contrary, the code execution time 321 includes the current regulator processor section 203 of open loop, but closed loop
Position and speed processing section 206.Alternatively, as discussed further below, during code executes the time 320, base
The velocity and acceleration estimated in previous PWM cycle calculates new position and speed value according to open loop approach, and makes to use it to
Substitute the value usually generated during closed loop current adjuster processing section 203.Similarly, during code executes the time 321, base
In motor current and voltage measured in current PWM cycle or home position according to closed-loop fashion calculating speed and position
Value, and current regulator processing at the same time is according to compared to closed-loop fashion simply more open loop approach.Such as by by Fig. 3
It is compared with Fig. 2 it should be understood that code, which executes the aobvious shorter than code of time 320, executes the time 220, and code executes the time
321 (it is not necessarily to execute the time 320 identical duration with code) are equally considerably shorter than code and execute the time 221.It is this
Code execute time-related saving increase the code during given PWM cycle execute " nargin " provided by the time and
It does not find to motor control by significant adverse effect also.
It, now will be to exemplary motor control method 400 presently in connection with Fig. 1 to Fig. 3 flow chart with reference to shown in Fig. 4
It is described.Initially, at 401, analog to digital (herein, ADC) conversion is pre-processed for feedback signal 121.It holds
Pretreatment of the row to ADC signal is with the raw feedback signal that will measure (for example, motor current and voltage, or use ADC integer
The motor position of count numbers) it is converted into true unit, such as ampere, volt and radian.Converted according to true unit
Feedback quantity is used for speed and position processing and current regulator processing.
Furthermore, it is assumed that having stored the state of motor controller 110, system is allowed to determine PWM cycle previous
Period, whether it performed that given (closed loop) code executes section or whether it performs substitution (open loop) and estimate.In this example
In, this is realized by the state of two marks of storage, they will be referred to as " velocity estimation mark " and " electric current tune herein
Save device mark ".During any circulation of the loop shown in Fig. 4, if mark is logical falsehood, then it represents that PWM previous
It is not carried out corresponding code during period (that is, previous loop of process 400) and executes section.However, if mark is logical truth,
It indicates to perform corresponding code segment during PWM cycle previous.
In consideration of it, method proceeds to 402, wherein inquiry system first code executes whether section is the false and second generation
Code executes whether section is true.In this example, first code execution section can be associated with position and speed processing, and the second generation
Code executes section can be associated with current regulator processing.However, the present invention is not limited thereto.
If the inquiry at 402 returns true value, handles and continue step 411 to 414, and be subsequently returned to step
401.If the inquiry at 402 returns falsity, before returning to step 401, processing continues step 421 to 424.
About 411, system (that is, motor controller 110) running position first and speed processing code are (for example, in Fig. 3
The complete closed loop version of section 202).This results in the estimations of speed and position to motor 120.Then at 412, pass through motor
Controller 110 executes other function, above to have given its example.Then, preceding value (open loop) is utilized at 413, i.e., formerly
The value generated during preceding PWM cycle updates electric current tune machine value.It in other words, if should for arbitrary specific PWM cycle k
Value is referred to as Vdq [k], then the value used in step 413 is provided by Vdq [k-1].Finally, the value of mark is each at 414
From being inverted.That is, velocity estimation mark, which is set, to come true, and current regulation mark is configured in present exemplary
It is false.
Referring now to the "false" branch of step 402, with step 421 beginning, system is based on preceding value, i.e., in previous PWM
The value determined during period updates to open loop position and speed estimation.In one embodiment, motor position is previous according to being equal to
Motor position is estimated multiplied by previous angular speed.In other words, if being directed to any iteration k, the position of motor 120 is given respectively
It is θ [k] and ω [k] with speed, then the value specified at step 421 is as follows: θ [k]=θ [k-1]+ω [k-1] T, and ω [k]=
ω [k-1], wherein T is elapsed time (for example, PWM cycle 210) between the iteration of two sides.
Then, at 422, as previously discussed, one or more " other " function is executed.Then, it at 423, holds
Row closed loop current adjuster handles (for example, section 203 in Fig. 3).Finally, the value of mark is respectively inverted at 424.?
That is velocity estimation mark is configured to false, and current regulation mark is set and comes true in present exemplary.Processing is subsequent
Back to 401, ADC conversion is executed again later.
It is appreciated that executing section for each code, the logic of method 400 has obtained its middle section and by closed loop has executed
It (that is, utilizing the feedback signal 121 from motor 120) and by open loop executes (that is, believing merely with the state from previous ones
Breath) between alternate motor control frame.This causes to reduce the code execution time, thus prevents handling using higher performance
Implicit costs caused by device increase and/or noise increases and due to reducing motor control caused by the motor control period
It can reduce.
Although at least one exemplary embodiment has been proposed in the previous detailed description, it should be understood that
There are still a large amount of modifications.It should also be understood that exemplary embodiment or multiple exemplary embodiments only as an example, and
It is not intended to limit the scope of the present disclosure in any way, applicability or configuration.But the detailed description of front will be this field
The convenience route map that technical staff is provided for realizing exemplary embodiment or multiple exemplary embodiments.It should be understood that
It, can be in element in the case where not departing from the scope of the present disclosure illustrated such as appended claims and its legal equivalents
Various changes are made in function and setting.
Claims (10)
1. a kind of method for motor control, comprising:
Receive the feedback signal from motor part, one or more attributes of the feedback signal in response to the motor；
Transmit motor control signal with based on the motor part the first attribute and the second attribute pass through repeatedly in two moulds
Replace between formula to control the motor part:
First mode determines the horse by executing first code execution section using the feedback signal in the flrst mode
It is determined described in the motor part up to the current value of the first attribute of component, and by the past value using the second attribute
The current value of second attribute, and
Second mode determines the horse by executing second code execution section using the feedback signal under the second mode
The motor part is determined up to the current value of second attribute of component, and by the past value using first attribute
The current value of first attribute of part.
2. according to the method described in claim 1, wherein the first code executes section corresponding to motor position and speed processing.
3. according to the method described in claim 2, wherein the second code executes section corresponding to current regulator processing.
4. according to the method described in claim 3, wherein second attribute of the motor is motor current.
5. according to the method described in claim 3, wherein first attribute of the motor is motor position, the motor
Third attribute is motor speed, and the current value of first attribute is set equal to the described of the motor position
The summation of the product of the past value and predetermined time interval of past value and the motor speed.
6. a kind of motor controller, comprising:
It is configured as executing the processor of machine-readable software instructions, the machine-readable software instructions are held by the processor
Promote the processor when row:
Receive the feedback signal from the motor part for being communicatively coupled to the motor controller, the feedback signal response
In one or more attributes of the motor；
Transmit motor control signal with based on the motor part the first attribute and the second attribute pass through repeatedly in two moulds
Replace between formula to control the motor part:
First mode determines the horse by executing first code execution section using the feedback signal in the flrst mode
The current value of the first attribute reached, and determine by the past value using the second attribute second attribute of the motor
Current value, and
Second mode determines the horse by executing second code execution section using the feedback signal under the second mode
The current value of second attribute reached, and determined described in the motor by the past value using first attribute
The current value of first attribute.
7. motor controller according to claim 6, wherein the first code, which executes section, corresponds to motor position and speed
Degree processing.
8. motor controller according to claim 7 corresponds at current regulator wherein the second code executes section
Reason.
9. motor controller according to claim 8, wherein second attribute of the motor is motor current.
10. motor controller according to claim 9, wherein first attribute of the motor is motor position, institute
The third attribute for stating motor is motor speed, and the current value of first attribute is set equal to the motor position
The summation of the product of the past value and predetermined time interval of the past value and the motor speed set.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/914,460 US20190280633A1 (en) | 2018-03-07 | 2018-03-07 | Systems and methods for reducing code execution time in motor control systems |
| US15/914460 | 2018-03-07 |
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| CN110247603A true CN110247603A (en) | 2019-09-17 |
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| CN201910132850.XA Pending CN110247603A (en) | 2018-03-07 | 2019-02-22 | The system and method for executing the time for reducing code in motor control system |
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| Country | Link |
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| US (1) | US20190280633A1 (en) |
| CN (1) | CN110247603A (en) |
| DE (1) | DE102019105399A1 (en) |
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| US20070040529A1 (en) * | 2005-08-19 | 2007-02-22 | Smc Corporation Of America | Stepping motor control system and method for controlling a stepping motor using closed and open loop controls |
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| CN102403935A (en) * | 2010-09-14 | 2012-04-04 | 加特可株式会社 | Motor control apparatus/method for electric oil pump |
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| US20170272020A1 (en) * | 2016-03-16 | 2017-09-21 | Mitsubishi Electric Research Laboratories, Inc. | System and Method for Controlling Speed of Electric Motor |
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| JP5389101B2 (en) * | 2011-04-26 | 2014-01-15 | 三菱電機株式会社 | Motor control device |
| US10908590B2 (en) * | 2014-07-18 | 2021-02-02 | Regal Beloit America, Inc. | System and method for adjusting an operation of a motor |
| US9692336B2 (en) * | 2015-10-09 | 2017-06-27 | Texas Instruments Incoporated | Asynchronous state estimation and control in a field-oriented control architecture |
| US10097120B2 (en) * | 2016-09-29 | 2018-10-09 | Steering Solutions Ip Holding Corporation | Current prediction for delay compensation in motor control systems |
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2018
- 2018-03-07 US US15/914,460 patent/US20190280633A1/en not_active Abandoned
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2019
- 2019-02-22 CN CN201910132850.XA patent/CN110247603A/en active Pending
- 2019-03-04 DE DE102019105399.4A patent/DE102019105399A1/en not_active Withdrawn
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|---|---|---|---|---|
| US20070040529A1 (en) * | 2005-08-19 | 2007-02-22 | Smc Corporation Of America | Stepping motor control system and method for controlling a stepping motor using closed and open loop controls |
| CN101895241A (en) * | 2009-05-22 | 2010-11-24 | 台达电子工业股份有限公司 | Dual-power motor control system and motor control device thereof |
| CN102403935A (en) * | 2010-09-14 | 2012-04-04 | 加特可株式会社 | Motor control apparatus/method for electric oil pump |
| CN104808694A (en) * | 2014-01-27 | 2015-07-29 | 雅马哈发动机株式会社 | Motor control device and correction data generation method in same |
| CN106487299A (en) * | 2015-08-31 | 2017-03-08 | 洛克威尔自动控制技术股份有限公司 | There is the motor driver vector controlled of the feedback compensation of filter capacitor electric current |
| US20170272020A1 (en) * | 2016-03-16 | 2017-09-21 | Mitsubishi Electric Research Laboratories, Inc. | System and Method for Controlling Speed of Electric Motor |
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| Publication number | Publication date |
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| US20190280633A1 (en) | 2019-09-12 |
| DE102019105399A1 (en) | 2019-09-12 |
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